变压器内检仿生机器鱼机构优化设计

Optimization Design of Bionic Robotic Fish Mechanism for Transformer Internal Inspection

变压器作为电力系统重要的组成部分,其油箱内部故障检测一直是备受关注的问题。以仿生学为基础的机器鱼具有高机动性、高效率的特点,非常适用于工作环境复杂的变压器内部故障检测工作。为了提高机器鱼的工作效率,对鲹科鱼类的运动学模型进行了分析,结合机器鱼模型物理实现上的诸多约束,采用鱼体波拟合的思想对机器鱼模型的机构进行优化,最后通过ADAMS仿真软件对机器鱼虚拟样机进行运动学仿真实验,验证了该优化设计的有效性。

Transformer is an important part of the power system,and the detection of internal faults in the tank has always been a concern.The robot fish based on bionics has the characteristics of high mobility and high efficiency,which is very suitable for the detection of internal faults of transformers in complex working environments.In order to improve the working efficiency of the robotic fish,this paper analyzes the kinematic model of the carangidae fish,combined with many constraints on the physical realization of the robotic fish model,the mechanism of the robotic fish model.Finally,a kinematics simulation experiment was performed on the robotic fish virtual prototype through ADAMS simulation software to verify the effectiveness of the optimized design.